Nonlinear receding horizon control of an underactuated hovercraft

被引：44
|
作者：
Seguchi, H
Ohtsuka, T
机构：
[1] Osaka Univ, Grad Sch Engn, Dept Comp Controlled Mech Syst, Suita, Osaka 5650871, Japan
[2] Toyota Motor Co Ltd, Component & Syst Dev Ctr, Higashifuji Tech Ctr, Shizuoka 4101193, Japan
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2003年 / 13卷 / 3-4期
关键词：
hovercraft; nonlinear receding horizon control; real-time optimization; discrete-valued input;
D O I：
10.1002/rnc.824
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper describes nonlinear receding horizon control of an underactuated hovercraft with discrete-valued inputs and its hardware implementation. The hovercraft has two fixed thrusters, and the thrusters generate thrusts of only three discrete values, that is, forward, backward and zero thrusts. Nonlinear receding horizon control is applied to position control of the hovercraft with the discrete-valued inputs approximated by constrained continuous-valued inputs. Although nonlinear receding horizon control requires real-time constrained optimization, a fast algorithm is successfully implemented for the hardware experiment. Copyright (C) 2003 John Wiley Sons, Ltd.
引用
收藏
页码：381 / 398
页数：18
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